Granted Patent B2

US 11,013,563 · App. 15/940,627 · Granted May 25, 2021

Inventors: Frederick E. Shelton, IV (Hillsboro, OH); Jerome R. Morgan (Cincinnati, OH); Jason L. Harris (Lebanon, OH); David C. Yates (West Chester, OH)

Assignee: Ethicon LLC

A61B34/25A61B34/30A61B34/35A61B34/76G16H20/40G16H40/60G16H40/63A61B18/1445A61B34/77A61B90/361A61B90/37A61B2017/00199A61B2017/00221A61B2017/00225A61B2017/00477A61B2034/254A61B2034/302A61B2034/304A61B2034/305A61B2090/065A61B2090/066A61B2218/008

Abstract

Claims (95)

1. A robotic surgical system, comprising:

a first motor;

a second motor; and

a robotic surgical tool, comprising:

a first rotary driver configured to receive a first rotary motion from said first motor;

a second rotary driver configured to receive a second rotary motion from said second motor;

an output drive; and

a shifter configured to selectively couple said first rotary driver and said second rotary driver to said output drive, wherein said first motor and said second motor are configured to concurrently supply torque to said output drive in a high-torque operating state.

2. The robotic surgical system of claim 1 , wherein one of said first rotary driver and said second rotary driver is configured to supply torque to a second output drive in a low-torque operating state, and wherein a maximum torque is greater in the high-torque operating state than in the low-torque operating state.

3. The robotic surgical system of claim 2 , wherein said robotic surgical tool further comprises:

a second shifter configured to selectively couple said first rotary driver to said second output drive; and

a third output drive and a third shifter configured to selectively couple said second rotary driver and said third output drive.

4. A robotic surgical system, comprising:

a first motor;

a second motor; and

a robotic surgical tool, comprising:

a first rotary driver configured to receive a first rotary motion from said first motor;

a second rotary driver configured to receive a second rotary motion from said second motor;

an output drive;

a second output drive;

a third output drive;

a fourth output drive;

a shifter configured to selectively couple said first rotary driver and said second rotary driver to said output drive, wherein said first rotary driver and said second rotary driver are configured to concurrently supply torque to said output drive in a hiqh-torque operating state, wherein one of said first rotary driver and said second rotary driver is configured to supply torque to said second output drive in a low-torque operating state, and wherein a maximum torque is greater in the high-torque operating state than in the low-torque operating state;

a second shifter configured to selectively couple said first rotary driver to said second output drive;

a third shifter configured to selectively couple said second rotary driver and said third output drive; and

a fourth shifter configured to selectively couple said first rotary driver and said second rotary driver to said fourth output drive.

5. The robotic surgical system of claim 4 , wherein said robotic surgical tool comprises:

a housing comprising said first rotary driver and said second rotary driver;

an end effector comprising a firing member; and

a shaft extending intermediate said housing and said end effector, wherein said output drive is configured to clamp said end effector, wherein said second output drive is configured to rotate said shaft, wherein said third output drive is configured to close said end effector, and wherein said fourth output drive is configured to fire said firing member.

6. The robotic surgical system of claim 5 , further comprising a third rotary driver configured to operably engage said shifter, said second shifter, said third shifter, and said fourth shifter.

7. The robotic surgical system of claim 6 , wherein said third rotary driver comprises a camshaft.

8. The robotic surgical system of claim 6 , further comprising:

a fourth rotary driver configured to articulate said end effector relative to said shaft about a first axis; and

a fifth rotary driver configured to articulate said end effector relative to said shaft about a second axis.

9. The robotic surgical system of claim 6 , further comprising:

a first lock arm extending from said shifter and configured to selectively lock said output drive;

a second lock arm extending from said second shifter and configured to selectively lock said second output drive;

a third lock arm extending from said third shifter and configured to selectively lock said third output drive; and

a fourth lock arm extending from said fourth shifter and configured to selectively lock said fourth output drive.

10. A robotic surgical tool, comprising:

a transmission, comprising:

a first layer comprising a first output drive and a plurality of first idler gears;

a second layer comprising a second output drive and a plurality of second idler gears;

a first shaft extending through said first layer and said second layer, wherein said first shaft is configured to receive a first rotary drive motion;

a second shaft extending through said first layer and said second layer, wherein said second shaft is configured to receive a second rotary drive motion; and

a shifting assembly, wherein said shifting assembly is configured to couple said first shaft and said second shaft to said first output drive via said plurality of first idler gears in a high torque state in which the first rotary drive motion and the second rotary drive motion are cooperatively delivered to said first output drive, and wherein said shifting assembly is configured to couple said first shaft to said second output drive via said plurality of second idler gears in a low torque state in which only the first rotary drive motion is delivered to said second output drive.

11. The robotic surgical tool of claim 10 , further comprising:

a first motor drivingly coupled to said first shaft, wherein said first motor is configured to generate said first rotary drive motion; and

a second motor drivingly coupled to said second shaft, wherein said second motor is configured to generate said second rotary drive motion.

12. The robotic surgical tool of claim 10 , wherein said shifting assembly further comprises:

a camshaft;

a first shifting plate positioned intermediate said camshaft and said plurality of first idler gears in said first layer; and

a second shifting plate positioned intermediate said camshaft and said plurality of second idler gears in said second layer.

13. The robotic surgical tool of claim 12 , wherein said shifting assembly further comprises:

a first lock operably engaged with said first shifting plate and said first output drive; and

a second lock operably engaged with said second shifting plate and said second output drive.

14. The robotic surgical tool of claim 10 , wherein said first output drive is configured to affect a first surgical function, and wherein said second output drive is configured to affect a second surgical function.

15. A system for driving a robotic surgical tool, comprising:

a first layer comprising a first output gear;

a second layer comprising a second output gear;

a first drive shaft extending through said first layer and said second layer;

a second drive shaft extending through said first layer and said second layer;

a shifting assembly configured to selectively couple said first drive shaft and said second drive shaft to said first output pear in a high-torque operating state to concurrently supply torque to said first output gear;

a first motor drivingly coupled to said first drive shaft; and

a second motor drivingly coupled to said second drive shaft.

16. The system of claim 15 , wherein said shifting assembly is configured to couple said first drive shaft to said second output gear in a low-torque operating state, and wherein a maximum torque is greater in the high-torque operating state than in the low-torque operating state.

17. The system of claim 16 , wherein the low-torque operating state is employed for a low-force closure motion, and wherein the high-torque operating state is employed for a high-force clamping motion.

18. The system of claim 15 , wherein said shifting assembly further comprises:

a camshaft;

a plurality of first idler gears and a first shifting plate positioned intermediate said camshaft and said plurality of first idler gears;

a plurality of second idler gears and a second shifting plate positioned intermediate said camshaft and said plurality of second idler gears;

a first lock operably engaged with said first shifting plate and said first output gear; and

a second lock operably engaged with said second shifting plate and said second output gear.

19. The system of claim 15 , wherein said first output gear is configured to affect a first surgical function, and wherein said second output gear is configured to affect a second surgical function.

20. A robotic surgical tool, comprising:

a first rotary driver configured to receive a first rotary motion from a first motor;

a second rotary driver configured to receive a second rotary motion from a second motor;

a first output drive;

a second output drive;

a third output drive;

a fourth output drive;

a first shifter configured to selectively couple said first rotary driver to said first output drive;

a second shifter configured to selectively couple said second rotary driver to said second output drive;

a third shifter configured to selectively couple said first rotary driver and said second rotary driver to said third output drive; and

a fourth shifter configured to selectively couple said first rotary driver and said second rotary driver to said fourth output drive.

21. A robotic surgical tool, comprising:

a first rotary driver configured to receive a first rotary motion from a first motor;

a second rotary driver configured to receive a second rotary motion from a second motor;

a first output drive;

a second output drive;

a first gear train;

a second gear train;

a first shifter configured to drivingly couple said first rotary driver to said first output drive with said first gear train such that the first rotary motion is delivered to said first output drive in a low-torque operating state; and

a second shifter configured to drivingly couple said first rotary driver and said second rotary driver to said second output drive with said second gear train such that the first rotary motion and the second rotary motion are concurrently delivered to said second output drive in a high-torque operating state.

Assignments (2)

Cited By (68)

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